CN205808422U - A kind of attitude sensing device - Google Patents
A kind of attitude sensing device Download PDFInfo
- Publication number
- CN205808422U CN205808422U CN201620175728.2U CN201620175728U CN205808422U CN 205808422 U CN205808422 U CN 205808422U CN 201620175728 U CN201620175728 U CN 201620175728U CN 205808422 U CN205808422 U CN 205808422U
- Authority
- CN
- China
- Prior art keywords
- gyro sensor
- attitude
- acceleration
- merr
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Navigation (AREA)
Abstract
The utility model discloses a kind of attitude sensing device, including benchmark control module and sensor assembly；Benchmark control module includes controller, communication unit and the first acceleration gyro sensor, and controller is connected with communication unit, the first acceleration gyro sensor respectively；Sensor assembly include being fixed on keep off the second upper acceleration gyro sensor and be fixed on except gear in addition to need the multiple Acanthopanan trifoliatus (L.) Merr. rate gyro sensors on the parts of collection action；Host computer is connected with benchmark control module, all Acanthopanan trifoliatus (L.) Merr. rate gyro sensors respectively, for the attitude information comparing the first acceleration gyro sensor and Acanthopanan trifoliatus (L.) Merr. rate gyro sensors is gathered, and judges whether component pose changes；Controller and the second acceleration gyro sensor are connected, and for the attitude information comparing the first acceleration gyro sensor and the second acceleration gyro sensor is gathered, and judge that gear is whether occurring attitude to change and calculate put into gear figure place.
Description
Technical field
This utility model relates to intelligence and drives the field of examining, and particularly relates to a kind of attitude sensing device.
Background technology
Driving, in intelligence, the field of examining, student, in examination process, requires to gather gear, that foot-operated, car turns to etc. is dynamic in examination item
Make.But, the sensor of the examination item gathered about these needs in current driving school is with little or no, and, even if had
Sensor is also to there is various problem to cause gathering not accurate enough, installs loaded down with trivial details, is unfavorable for cost-effective etc..
Utility model content
For weak point present in the problems referred to above, this utility model provides a kind of attitude sensing device.
For achieving the above object, this utility model provides a kind of attitude sensing device, including: host computer, it is fixed on car body
On benchmark control module and sensor assembly；
Described benchmark control module includes controller, communication unit and the first acceleration gyro sensors as benchmark
Device, described controller is connected with described communication unit, the first acceleration gyro sensor respectively；
Described sensor assembly includes that being fixed on gear the second upper acceleration gyro sensor and is fixed on except gear handle
Multiple Acanthopanan trifoliatus (L.) Merr. rate gyro sensors on the outer parts needing collection action；
Described host computer is connected with described benchmark control module, all Acanthopanan trifoliatus (L.) Merr. rate gyro sensors respectively, is used for
Obtain the first acceleration gyro sensor respectively and attitude information that Acanthopanan trifoliatus (L.) Merr. rate gyro sensors is gathered, and carry out
Relatively, judge whether component pose changes according to comparative result；
Described controller and the second acceleration gyro sensor are connected, and pass for obtaining the first acceleration gyroscope respectively
The attitude information that sensor and the second acceleration gyro sensor are gathered, and compare, judge gear handle according to comparative result
Whether occur attitude to change and calculate put into gear figure place.
As further improvement of the utility model, the described parts needing collection action include car door, wheel, parking brake,
Any one or more in clutch pedal, brake pedal.
As further improvement of the utility model, described first acceleration gyro sensor and the second acceleration gyro
Instrument sensor, Acanthopanan trifoliatus (L.) Merr. rate gyro sensors towards the most consistent.
As further improvement of the utility model, described attitude information includes angle information, and each described 3rd accelerates
Degree gyro sensor is equipped with numbering, and host computer is controlled by serial ports and demarcates Acanthopanan trifoliatus (L.) Merr. rate gyro sensors.
As further improvement of the utility model, described benchmark control module be arranged in parallel towards headstock and with underbody.
Compared with prior art, the beneficial effects of the utility model are:
Attitude sensing device disclosed in this utility model, host computer is by bus and benchmark control module and all Acanthopanan trifoliatus (L.) Merr.s
Rate gyro sensors be connected, host computer by first acceleration gyro sensor detection car body itself attitude information,
Detected in real time by Acanthopanan trifoliatus (L.) Merr. rate gyro sensors and keep off the athletic posture information of the outer parts needing collection action；Logical
Cross host computer more a certain time inscribe the first acceleration gyro sensor and Acanthopanan trifoliatus (L.) Merr. rate gyro sensors attitude letter
The relative position of breath and the first acceleration gyro sensor and attitude of Acanthopanan trifoliatus (L.) Merr. rate gyro sensors under initial time
The relative position of information, it is judged that other need whether the attitude of parts of collection action changes, thus obtain student and examining
Corresponding action whether is had during examination；Benchmark control module is kept off the second upper acceleration top by this utility model with being fixed on
Spiral shell instrument sensor is connected, and is realized gear monitoring in real time and calculating and put into gear attitude by controller in benchmark control module
Position.This utility model by the controller in benchmark control module to gear monitoring in real time, it is to avoid go out during shift detection
Existing time delay equal error, its accuracy of detection is high；By host computer, other parts needing collection action are monitored in real time, improve
Calculation processing power during detection, improves detection efficiency；The attitude sensing device installation side that this utility model provides
Just, reduce cost, improve acquisition precision and collecting efficiency.
Accompanying drawing explanation
Fig. 1 is the frame diagram of attitude sensing device disclosed in a kind of embodiment of this utility model；
Fig. 2 is the frame diagram of benchmark control module in Fig. 1.
In figure: 1, host computer；2, benchmark control module；2-1, the first acceleration gyro sensor；2-2, controller；2-
3, communication unit；3, the second acceleration gyro sensor；4, Acanthopanan trifoliatus (L.) Merr. rate gyro sensors；5, bus；6, RVV.
Detailed description of the invention
For making the purpose of this utility model embodiment, technical scheme and advantage clearer, new below in conjunction with this practicality
Accompanying drawing in type embodiment, is clearly and completely described the technical scheme in this utility model embodiment, it is clear that retouched
The embodiment stated is a part of embodiment of the present utility model rather than whole embodiments.Based on the reality in this utility model
Execute example, the every other embodiment that those of ordinary skill in the art are obtained on the premise of not making creative work, all
Belong to the scope of this utility model protection.
Below in conjunction with the accompanying drawings this utility model is described in further detail:
Embodiment 1: as shown in Figure 1-2, this utility model provides a kind of attitude sensing device, including: host computer 1, Gu
The benchmark control module 2 being scheduled on car body and sensor assembly；Sensor assembly includes being fixed on gear the second upper acceleration
Gyro sensor 3 and be fixed on except gear in addition to need the multiple Acanthopanan trifoliatus (L.) Merr. rate gyro sensors on the parts of collection action
4, each Acanthopanan trifoliatus (L.) Merr. rate gyro sensors 4 is equipped with numbering, and host computer is controlled by serial ports and demarcates the 3rd acceleration
Gyro sensor；Wherein, except gear in addition to need the parts of collection action to include car door, wheel, parking brake, clutch pedal, brake
One or more in pedal etc..Owing to sensor assembly is that the attitude information to the single parts needing and gathering is acquired,
So the function of sensor assembly is to strengthen it to be fixed on the single attitude information of parts and weaken other attitude informations；Such as,
The sensor assembly being fixed on car door, its function is whether detection car door is opened, and therefore improves car door in sensor assembly
Open the sensitivity of attitude information detection and reduce the interference of the attitude informations such as vehicle vibration.
Benchmark control module 2 is preferably fixed to towards headstock and the car body position parallel with underbody, and it includes controller
2-2, communication unit 2-3 and the first acceleration gyro sensor 2-1 as benchmark, controller 2-2 respectively with communication unit
2-3, the first acceleration gyro sensor 2-1 are connected, and communication unit 2-3 is for carrying out communication with outside；Second acceleration top
Spiral shell instrument sensor 3 and Acanthopanan trifoliatus (L.) Merr. rate gyro sensors 4 also can be provided with and the extraneous communication unit being in communication with each other；
Host computer 1 by bus 5 with and benchmark control module 2, all Acanthopanan trifoliatus (L.) Merr. rate gyroes in bus 5 sense
Device 4 is connected, and compares the first acceleration gyro sensor 2-1 and the 3rd acceleration by the way of host computer 1 uses difference processing
The attitude information that degree gyro sensor 4 is gathered, thus judge that other need the parts of collection action (car door, wheel, hands
Stop, clutch pedal, brake pedal) whether occur attitude to change；Wherein, attitude information refers to that acceleration gyro sensor is adopted
The angle information of collection.
Due to rapidity and the ambiguity of gear change, so needing to gather in time and calculate the attitudes vibration of gear handle；For
This, in this utility model, benchmark control module 2 is connected with the second acceleration gyro sensor 3 by RVV 6, thus realizes
Controller 2-2 and the second acceleration gyro sensor 3 are connected；For obtaining the first acceleration gyro sensor 2-1 respectively
Whether the attitude information gathered with the second acceleration gyro sensor 3, and comparing, judge to keep off according to comparative result
Attitude is occurred to change and calculate put into gear figure place；And realize the communication with host computer 1 by communication unit 2-3.
Further, the first acceleration gyro sensor 2-1 and the second acceleration gyro sensor the 3, the 3rd acceleration
Gyro sensor 4 towards the most consistent.
Attitude sensing device disclosed in this utility model, when keeping off or other need the parts of collection action to have action,
Second acceleration gyro sensor or Acanthopanan trifoliatus (L.) Merr. rate gyro sensors can make corresponding action, now will be with benchmark
The first acceleration gyro sensor in control module produces certain inclination angle, thus attitude occurs change relatively；Now, base
According to the change of attitude, controller or host computer in quasi-control module will show whether student has in examination process accordingly
Action.
Embodiment 2: the invention also discloses the detection method of a kind of attitude sensing device, including:
Step one, by first acceleration gyro sensor obtain body movement attitude information, by second accelerate
Degree gyro sensor obtains the attitude information of gear handle, is obtained except gear adopts outer needs by Acanthopanan trifoliatus (L.) Merr. rate gyro sensors
The attitude information of the parts of collection action.
Step 2, compared the first acceleration gyro sensor and Acanthopanan trifoliatus (L.) Merr. rate gyro sensors institute by host computer
The attitude information gathered, it is judged that need whether the parts of collection action occur attitude to change in particular moment；
Judge that other need the parts of collection action in the method whether particular moment occurs attitude to change to be:
Obtain the first acceleration gyro sensor and Acanthopanan trifoliatus (L.) Merr. rate gyro under initial time by host computer to sense
The attitude information that device is gathered, obtains initial time the first acceleration gyro sensor and Acanthopanan trifoliatus (L.) Merr. rate gyro sensors
The relative position of attitude information；Under particular moment, obtain the first acceleration gyro sensor and the 3rd by host computer
The attitude information that acceleration gyro sensor is gathered, obtains particular moment the first acceleration gyro sensor and Acanthopanan trifoliatus (L.) Merr.
The relative position of the attitude information of rate gyro sensors；
If the relative position of particular moment there occurs change compared with the relative position of initial time, then prove other needs
The attitude of the parts of collection action changes, and obtains which parts concrete according to the numbering of Acanthopanan trifoliatus (L.) Merr. rate gyro sensors
There occurs that attitude changes；That is: wheel, brake pedal, clutch pedals etc. are composed of number 1,2,3 respectively, and host computer passes through
Serial ports controls and demarcates Acanthopanan trifoliatus (L.) Merr. rate gyro sensors, can show which parts concrete there occurs appearance by host computer
State changes.
If the relative position of particular moment does not change compared with the relative position of initial time, then prove that needs are adopted
The attitude of the parts of collection action does not change.
Step 3, compared the first acceleration gyro sensor and the second acceleration gyro sensor institute by controller
The attitude information gathered, it is judged that whether gear is occurring attitude to change in particular moment and calculating put into gear figure place；
Judge to keep off whether occurring attitude to change in particular moment and calculate the method for put into gear figure place to be:
The first acceleration gyro sensor and the second acceleration gyro sensors under initial time is obtained by controller
The attitude information that device is gathered, obtains initial time the first acceleration gyro sensor and the second acceleration gyro sensor
The relative position of attitude information；Under particular moment, obtain the first acceleration gyro sensor and second by controller
The attitude information that acceleration gyro sensor is gathered, obtains particular moment the first acceleration gyro sensor and second and adds
The relative position of the attitude information of rate gyro sensors；
If the relative position of particular moment there occurs change compared with the relative position of initial time, then prove the appearance of gear handle
State changes, and calculates put into gear figure place according to the angle that gear changes attitude by controller；
If the relative position of particular moment does not change compared with the relative position of initial time, then prove gear handle
Attitude does not change.
A kind of attitude sensing device disclosed in this utility model, host computer is by bus and benchmark control module and all the
Acanthopanan trifoliatus (L.) Merr. rate gyro sensors is connected, and host computer is believed by the attitude of the first acceleration gyro sensor detection car body itself
Breath, detected in real time by Acanthopanan trifoliatus (L.) Merr. rate gyro sensors to keep off outer other are needed the athletic posture of parts of collection action
Information；The first acceleration gyro sensor and Acanthopanan trifoliatus (L.) Merr. rate gyro sensors is inscribed time more a certain by host computer
The relative position of attitude information and the first acceleration gyro sensor and Acanthopanan trifoliatus (L.) Merr. rate gyro sensors under initial time
The relative position of attitude information, it is judged that other need whether the attitude of parts of collection action changes, thus are learned
Whether member has corresponding action in examination process；Benchmark control module is added upper second by this utility model with being fixed on gear
Rate gyro sensors is connected, and is realized gear monitoring in real time and calculating attitude by the controller in benchmark control module
Put into gear position.This utility model by the controller in benchmark control module to gear monitoring in real time, it is to avoid gear inspection
Occurring time delay equal error during survey, its accuracy of detection is high；By host computer, other parts needing collection action are supervised in real time
Survey, improve the calculation processing power during detection, improve detection efficiency；The attitude sensing device that this utility model provides
Easy for installation, reduce cost, improve acquisition precision and collecting efficiency.
These are only preferred embodiment of the present utility model, be not limited to this utility model, for this area
Technical staff for, this utility model can have various modifications and variations.It is all within spirit of the present utility model and principle,
Any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (5)
1. an attitude sensing device, it is characterised in that including: host computer, the benchmark control module being fixed on car body and biography
Sensor module；
Described benchmark control module includes controller, communication unit and the first acceleration gyro sensor as benchmark, institute
State controller to be connected with described communication unit, the first acceleration gyro sensor respectively；
Described sensor assembly includes that being fixed on gear the second upper acceleration gyro sensor and is fixed on except gear is external demand
Multiple Acanthopanan trifoliatus (L.) Merr. rate gyro sensors on the parts of action to be gathered；
Described host computer is connected with described benchmark control module, all Acanthopanan trifoliatus (L.) Merr. rate gyro sensors respectively, for respectively
Obtain the first acceleration gyro sensor and attitude information that Acanthopanan trifoliatus (L.) Merr. rate gyro sensors is gathered, and compare
Relatively, judge whether component pose changes according to comparative result；
Described controller and the second acceleration gyro sensor are connected, for obtaining the first acceleration gyro sensor respectively
Whether the attitude information gathered with the second acceleration gyro sensor, and comparing, judge to keep off according to comparative result
Attitude is occurred to change and calculate put into gear figure place.
2. attitude sensing device as claimed in claim 1, it is characterised in that the described parts needing collection action include car
Any one or more in door, wheel, parking brake, clutch pedal, brake pedal.
3. attitude sensing device as claimed in claim 1, it is characterised in that described first acceleration gyro sensor and the
Two acceleration gyro sensors, Acanthopanan trifoliatus (L.) Merr. rate gyro sensors towards the most consistent.
4. attitude sensing device as claimed in claim 1, it is characterised in that described attitude information includes angle information, each
Described Acanthopanan trifoliatus (L.) Merr. rate gyro sensors is equipped with numbering, and host computer is controlled by serial ports and demarcates Acanthopanan trifoliatus (L.) Merr. rate gyro unit
Instrument sensor.
5. attitude sensing device as claimed in claim 1, it is characterised in that described benchmark control module is towards headstock and and car
The end, be arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620175728.2U CN205808422U (en) | 2016-03-08 | 2016-03-08 | A kind of attitude sensing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620175728.2U CN205808422U (en) | 2016-03-08 | 2016-03-08 | A kind of attitude sensing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205808422U true CN205808422U (en) | 2016-12-14 |
Family
ID=58143597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620175728.2U Active CN205808422U (en) | 2016-03-08 | 2016-03-08 | A kind of attitude sensing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205808422U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105698786A (en) * | 2016-03-08 | 2016-06-22 | 北京精英智通科技股份有限公司 | Attitude sensing device and detection method |
| CN111427372A (en) * | 2020-03-03 | 2020-07-17 | 深圳蚁石科技有限公司 | Anti-reverse repeated oscillation method for aircraft |
-
2016
- 2016-03-08 CN CN201620175728.2U patent/CN205808422U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105698786A (en) * | 2016-03-08 | 2016-06-22 | 北京精英智通科技股份有限公司 | Attitude sensing device and detection method |
| CN111427372A (en) * | 2020-03-03 | 2020-07-17 | 深圳蚁石科技有限公司 | Anti-reverse repeated oscillation method for aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203759869U (en) | Gesture sensing type aircraft remote controller | |
| CN103502075B (en) | The estimation of road inclination | |
| CN105109490B (en) | Method for judging sharp turn of vehicle based on three-axis acceleration sensor | |
| CN103640480B (en) | A kind of vehicle gear recognition method and device | |
| CN105424040B (en) | A kind of novel MEMS inertial sensor array redundant configurations method | |
| CN202885834U (en) | Device for detecting motion states of vehicle | |
| CN103487011B (en) | A kind of attitude angle detection method of data glove | |
| CN107512143B (en) | Tire pressure calculation method and device and application to bicycle | |
| CN205808422U (en) | A kind of attitude sensing device | |
| CN102759356B (en) | Dynamic carrier attitude measurement system and method based on MEMS sensors | |
| CN110341714A (en) | Method that is a kind of while estimating vehicle centroid side drift angle and disturbance | |
| CN103884514A (en) | Multifunctional motor vehicle detecting instrument and detecting method thereof | |
| CN107662613B (en) | A kind of extreme driving behavior recognition methods and system based on mobile intelligent perception | |
| CN103499354A (en) | Neyman-Pearson criterion-based zero speed detection method | |
| CN110779736A (en) | System for testing ESC performance of vehicle | |
| CN104819717A (en) | Multi-rotor aircraft attitude detection method based on MEMS inertial sensor group | |
| CN105698786A (en) | Attitude sensing device and detection method | |
| CN104833529A (en) | Vehicle performance test system based on inertial navigation and test method thereof | |
| CN104773178A (en) | Driving gesture detecting system based on MEMS (Micro-electromechanical Systems) sensors | |
| CN204630738U (en) | Based on inertial navigation motor racing Performance Test System | |
| CN109202883A (en) | A kind of position control method of self-balance robot | |
| CN105605219A (en) | Automobile-gear detecting device based on double dip-angle sensors | |
| CN107322601A (en) | The attitudes vibration detection means and method of a kind of object gripped by manipulator | |
| CN104748725B (en) | Gradient measurement method and device | |
| CN204807092U (en) | Beam -pumping unit failure diagnosis device and system based on space orientation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |